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Kai Wurm from the University of Freiburg (Germany) recently visited Willow Garage. During his stay, he worked on integrating the 3D mapping library OctoMap into the ROS and PCL frameworks. To provide real-time 3D maps of the workspace of the PR2 robot, the runtime and memory requirements of OctoMap were substantially reduced. To make OctoMap more attractive for mobile manipulation, he also investigated the use of collections of multi-resolution maps to model movable objects at millimeter resolution.

For more technical information, please see the slides below (download PDF). For more information on using OctoMap with ROS, please see octomap_mapping.